Modeling and implementation of two-wheel self-balancing robot equipped with supporting arms

This paper presents the modeling and implementation of a two-wheel self-balancing robot which is built as a test platform as well as an exhibit for Macau Science Center. In this design, three feedback sensors are used: an accelerometer to measure the tilt angle of the robot with respect to gravity, a gyroscope to measure the angular rate and two shaft encoders to measure the position and velocity of the base of the robot. Kalman filter is used for the fusion of sensor data and linear state space controller is used for self-balancing. It can move back and forth, turn left and right under the control of the operator from distance through a set of remote control module. In addition, the robot features two supporting arms equipped on it, and can rest itself on them for power-saving during the break of exhibition, or be supported by them when impacted by an irresistible force from external and unable to stay upright any more. It can switch between self-balancing and resting status swiftly and stably on its own or under the control of the operator.